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[Needle] Use the MechanicalState of the needle tip node to get the impulse and initiate puncture #21

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Merged
th-skam merged 2 commits into from
Jul 23, 2025
Merged

[Needle] Use the MechanicalState of the needle tip node to get the impulse and initiate puncture #21

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2031254
[Needle][algorithm] Fix incorrect index of needle mstate in Insertion…
th-skam Jul 15, 2025
fed8567
[Needle][algorithm] Use the MechanicalState of the needle tip node to…
th-skam Jul 15, 2025
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15 changes: 10 additions & 5 deletions src/sofa/collisionAlgorithm/algorithm/InsertionAlgorithm.h
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Original file line number Diff line number Diff line change
Expand Up @@ -90,13 +90,18 @@ class InsertionAlgorithm : public BaseAlgorithm {
auto& output = *d_output.beginEdit();
auto& outputInside = *d_outputInside.beginEdit();

const sofa::component::statecontainer::MechanicalObject<defaulttype::RigidTypes>* mstate
= l_from->getContext()->get<sofa::component::statecontainer::MechanicalObject<defaulttype::RigidTypes>>();
const sofa::component::statecontainer::MechanicalObject<defaulttype::Vec3Types>* mstate
= l_from->getContext()->get<sofa::component::statecontainer::MechanicalObject<defaulttype::Vec3Types>>();
if (mstate->getSize() > 1)
{
msg_warning() << "Requested MechanicalObject, corresponding to the tip of the needle in the InsertionAlgorithm, has a size greater than 1. "
<< "The algorithm is designed to work with a single point. Only the first element will be used.";
}
if (m_constraintSolver)
{
defaulttype::RigidTypes::Vec3 lambda =
m_constraintSolver->getLambda()[mstate].read()->getValue()[0].getVCenter();
if (lambda.norm() > d_punctureThreshold.getValue())
defaulttype::Vec3Types::VecCoord lambda =
m_constraintSolver->getLambda()[mstate].read()->getValue();
if (lambda[0].norm() > d_punctureThreshold.getValue())
{
for (const auto& itOutputPair : output) {
m_proximities.push_back(itOutputPair.second->copy());
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